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Efficient use of 3d environment models for mobile robot simulation and localization
dc.contributor.author | Corominas Murtra, Andreu |
dc.contributor.author | Trulls Fortuny, Eduard |
dc.contributor.author | Mirats Tur, Josep Maria |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2011-04-13T16:36:52Z |
dc.date.available | 2011-04-13T16:36:52Z |
dc.date.created | 2010 |
dc.date.issued | 2010 |
dc.identifier.citation | Corominas, A. [et al.]. Efficient use of 3d environment models for mobile robot simulation and localization. A: International Conference on Simulation, Modeling, and Programming for Autonomous Robots. "2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots". Darmstadt: Springer Verlag, 2010, p. 461-472. |
dc.identifier.isbn | 978-3-642-17318-9 |
dc.identifier.uri | http://hdl.handle.net/2117/12357 |
dc.description.abstract | This paper provides a detailed description of a set of algorithms to efficiently manipulate 3D geometric models to compute physical constraints and range observation models, data that is usually required in real-time mobile robotics or simulation. Our approach uses a standard file format to describe the environment and processes the model using the openGL library, a widely-used programming interface for 3D scene manipulation. The paper also presents results on a test model for benchmarking, and on a model of a real urban environment, where the algorithms have been effectively used for real-time localization in a large urban setting. |
dc.format.extent | 12 p. |
dc.language.iso | eng |
dc.publisher | Springer Verlag |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Neural networks (Computer science) |
dc.subject.other | mobile robots robot programming PARAULES AUTOR: 3D environment models |
dc.subject.other | observation models |
dc.subject.other | mobile robot |
dc.subject.other | 3D localization |
dc.subject.other | simulation |
dc.subject.other | openGL |
dc.title | Efficient use of 3d environment models for mobile robot simulation and localization |
dc.type | Conference report |
dc.subject.lemac | Xarxes neuronals (Informàtica) |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1007/978-3-642-17319-6_42 |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Mobile robots |
dc.relation.publisherversion | http://dx.doi.org/10.1007/978-3-642-17319-6_42 |
dc.rights.access | Open Access |
local.identifier.drac | 4966984 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Corominas, A.; Trulls, E.; Mirats, J.; Sanfeliu, A. |
local.citation.contributor | International Conference on Simulation, Modeling, and Programming for Autonomous Robots |
local.citation.pubplace | Darmstadt |
local.citation.publicationName | 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots |
local.citation.startingPage | 461 |
local.citation.endingPage | 472 |